CN210132511U - Crawler-type wall climbing robot based on electric permanent magnetic adsorption structure - Google Patents
Crawler-type wall climbing robot based on electric permanent magnetic adsorption structure Download PDFInfo
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- CN210132511U CN210132511U CN201920827339.7U CN201920827339U CN210132511U CN 210132511 U CN210132511 U CN 210132511U CN 201920827339 U CN201920827339 U CN 201920827339U CN 210132511 U CN210132511 U CN 210132511U
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Abstract
The utility model discloses a crawler-type wall climbing robot based on electric permanent magnetism adsorption structure, including the robot main part, with the track subassembly that the robot main part is connected, with the drive assembly that the track subassembly is connected and with the first magnetism adsorption component that the track subassembly is connected, first magnetism adsorption component is used for cooperating with the magnetic conduction metal wall, first magnetism adsorption component includes at least one automatically controlled permanent magnetism adsorption apparatus structure, automatically controlled permanent magnetism adsorption apparatus constructs including magnetic conduction yoke and sets up two above main magnets and the more than one reversible magnet of mutually supporting on the magnetic conduction yoke, the last excitation coil that is equipped with of reversible magnet. The utility model provides a crawler-type wall climbing robot based on electric permanent magnetism adsorption structure regards as main adsorption means with electric permanent magnetism adsorption apparatus structure, assists with the permanent magnet on the track subassembly, has improved crawler-type wall climbing robot's heavy burden ability greatly.
Description
Technical Field
The utility model relates to a crawler-type wall climbing robot, in particular to crawler-type wall climbing robot based on electric permanent magnetism adsorption structure belongs to wall climbing robot technical field.
Background
Due to the excellent off-road performance of the tracked robot, the tracked robot has wide application in the fields of industry, fire fighting, disaster relief and the like. The crawler-type wall-climbing robot can move on an inclined wall surface, a vertical wall surface and even a ceiling, can complete a certain task by carrying tools, can work in various operating environments which are not suitable for human beings to work in, such as pipeline exploration, tank body detection, rust removal and spraying in the ship industry and the like in the nuclear industry and the petrochemical industry, and can be combined with the pipeline exploration, tank body detection, rust removal and spraying in the ship industry and the like. And the adsorption means is the most core technology of all wall-climbing robots.
The crawler-type wall climbing robot mainly has two kinds of absorption means at present, negative pressure absorption and magnetic adsorption. Among them, the negative pressure adsorption depends on the vacuum chuck to adsorb on the wall surface, and is rarely used industrially due to the complexity of its apparatus. The magnetic field adsorption is the acting force generated by the magnetic field, has larger adsorption force and is suitable for being used on the surface of the magnetic conductive material. At present, magnetic adsorption type crawler-type wall-climbing robots are generally divided into electromagnetic types and permanent magnet types. CN 201811316935 discloses a method for manufacturing a magnetic wall climbing robot, in which a plurality of electromagnetic chucks are provided on a track, but when an electromagnet is used as an adsorption means, the adsorption state can be maintained by electrifying, and when the electric quantity is insufficient or the power is suddenly cut off, the wall climbing robot loses the adsorption force. CN 201820025069 discloses a magnetic adsorption crawler wall-climbing robot, which uses permanent magnets as main adsorption means, adopts a crawler equipped with permanent magnets as main adsorption means, and installs a plurality of auxiliary adsorption units of permanent magnets in front and at the back of a machine body, and adjusts the suction force by manually adjusting the angle of the auxiliary adsorption units. The permanent magnet on the crawler is used as an adsorption means, the loading capacity of the crawler-type wall-climbing robot is very limited, and the auxiliary adsorption unit adjusted manually has the characteristics of inconvenience in use, large working limitation and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a crawler-type wall climbing robot based on electric permanent magnetism adsorption structure, but the material surface such as iron or steel that the main application is applicable to the magnetic conduction, and the application includes jar body/pipeline detection, high-rise welding, hull rust cleaning and sprays paint etc. and then overcomes not enough among the prior art.
For realizing the purpose of the utility model, the utility model discloses a technical scheme include:
the utility model provides a crawler-type wall climbing robot based on electric permanent magnetic adsorption structure, including the robot main part, the track subassembly of being connected with the robot main part, with the drive assembly that the track subassembly is connected and with the first magnetic adsorption subassembly that the track subassembly is connected, first magnetic adsorption subassembly is used for cooperating with the magnetic conduction metal wall, first magnetic adsorption subassembly includes at least one automatically controlled permanent magnetic adsorption mechanism, automatically controlled permanent magnetic adsorption mechanism includes magnetic conduction yoke iron and sets up two or more main magnets and one or more reversible magnet of mutually supporting on the magnetic conduction yoke iron, around being equipped with excitation coil on the reversible magnet; when a first excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a magnetizing state and is adsorbed to the wall surface of the magnetic conductive metal; when a second excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a demagnetization state and is separated from the magnetic conductive metal wall surface; the first excitation current and the second excitation current are opposite in direction.
Further, the two main magnets are symmetrically arranged, the magnetic field intensity of the two main magnets is the same, and the magnetic field directions are opposite.
Further, more than two main magnets are permanent magnets, and the reversible magnet is a permanent magnet.
Further, the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
Preferably, the coercive force of the main magnet is 600-2000kA/m, and the coercive force of the reversible magnet is 30-200 kA/m.
Preferably, the material of the main magnet includes any one of permanent magnetic ferrite, samarium cobalt, and neodymium iron boron, but is not limited thereto.
Preferably, the material of the reversible magnet includes any one of manganese-aluminum-carbon, aluminum-nickel-cobalt, and iron-chromium-cobalt, but is not limited thereto.
Further, the track subassembly includes the chain belt main part of magnetic conduction not, the chain belt main part of magnetic conduction not still is connected with second magnetism adsorption component, second magnetism adsorption component includes more than one permanent magnetism adsorption apparatus structure, permanent magnetism adsorption apparatus structure can with the cooperation of magnetic conduction metal wall, just permanent magnetism adsorption apparatus structure and magnetic conduction metal wall do not have direct contact.
Preferably, the permanent magnet adsorption mechanism is a permanent magnet.
Preferably, the permanent magnet adsorption mechanism is a high-coercivity permanent magnet
Furthermore, the surface of the chain belt main body is provided with a plurality of wear-resistant anti-slip bulges, and the permanent magnet adsorption mechanism is arranged between every two adjacent wear-resistant anti-slip bulges.
Preferably, the height of the permanent magnetic adsorption mechanism is lower than that of the wear-resistant anti-skid protrusions.
Furthermore, a protection pad is arranged between the chain belt main body and the permanent magnetic adsorption mechanism.
Further, the robot main body further comprises a control assembly, the control assembly comprises a main control assembly and an electric control permanent magnet control assembly, the main control assembly is connected with the electric control permanent magnet control assembly and the driving assembly, and the main control assembly comprises an attitude sensor; the electric control permanent magnet control assembly can adjust the current magnitude and direction input into the magnet exciting coil.
Furthermore, drive assembly includes actuating mechanism, action wheel and follows the driving wheel, actuating mechanism is connected with the action wheel transmission, the action wheel warp track subassembly is connected with following the driving wheel.
Preferably, the drive mechanism comprises a drive motor.
Further, the robot main body further comprises a power supply assembly, the power supply assembly is connected with the electric control permanent magnet control assembly and the electric control permanent magnet control assembly, and the power supply assembly comprises a mobile power supply and a connecting interface capable of being connected with an external power supply.
Preferably, the robot main body is made of a light non-magnetic material, and the driving motor, the main control assembly and the electric control permanent magnet control assembly are arranged inside or on the top of the robot main body.
Compared with the prior art, the utility model has the advantages that:
1) the crawler-type wall-climbing robot based on the electric permanent magnetic adsorption structure provided by the utility model takes the electric permanent magnetic adsorption mechanism as a main adsorption means and is assisted by the permanent magnet on the crawler component, so that the load bearing capacity of the crawler-type wall-climbing robot is greatly improved;
2) compared with an electromagnetic type crawler wall-climbing robot, the electric permanent magnetic adsorption mechanism used in the utility model only needs electricity when the adsorption state is switched or the adsorption force needs to be adjusted, and can keep the adsorption or release state without continuous power-on, thereby improving the cruising ability of the wall-climbing robot;
3) the utility model provides a crawler-type wall climbing robot based on electric permanent magnetism adsorption structure detects self-state through attitude sensor, and in the wall that the inclination is less, and the suction requirement is not high, the robot can automatic adjustment electric permanent magnetism adsorption mechanism's magnetic attraction, through reducing electric permanent magnetism adsorption mechanism's magnetic attraction, reduces motor load, prolongs the life of motor;
4) compared with a wall-climbing robot which only depends on a permanent magnet as an adsorption means, the robot can be taken down from an attached wall more conveniently by switching the adsorption state of the robot.
Drawings
Fig. 1 is a structural diagram of a crawler-type wall-climbing robot based on an electro-permanent magnetic adsorption structure according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a link body of a track according to an exemplary embodiment of the present invention;
fig. 3 is a schematic cross-sectional structure diagram of an electrically controlled permanent magnet adsorption mechanism according to an exemplary embodiment of the present invention;
fig. 4a is a schematic view of an operating state structure of the crawler type wall-climbing robot according to an exemplary embodiment of the present invention;
fig. 4b is a schematic structural diagram of another working state of the crawler type wall-climbing robot in an exemplary embodiment of the present invention;
fig. 5 is a schematic diagram of the principle of the electric control permanent magnetic adsorption mechanism in an exemplary embodiment of the present invention;
fig. 6 is a schematic diagram illustrating the release of the electrically controlled permanent magnetic adsorption mechanism according to an exemplary embodiment of the present invention.
Detailed Description
In view of the deficiencies in the prior art, the inventor of the present invention has made extensive studies and practices to provide the technical solution of the present invention. The following further description of the embodiments, implementations, principles, etc., in connection with the drawings is intended to be illustrative, and not to limit the scope of the invention; moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1-3, a crawler-type wall-climbing robot based on an electric permanent magnetic adsorption mechanism includes a robot main body (which may be referred to as a vehicle body, hereinafter the same), a crawler (i.e., the crawler assembly) 2, and an electric control permanent magnetic adsorption mechanism. The robot main body 1 is made of light non-magnetic materials, driving wheels 1-4, driven wheels 1-5 are arranged on two sides of the robot main body, a driving motor and a motor driver 1-3 and an electric control permanent magnet control system (namely, the electric control permanent magnet control component is arranged below) 1-2 are arranged in the robot main body, a crawler belt component is respectively connected with the driving wheels and the driven wheels, the robot is controlled to move forwards and backwards through the driving motor and the motor driver 1-3, and the robot is steered by changing the speed and the running direction of the driving wheels.
Referring to fig. 2, a driving wheel 1-4 of the wall-climbing robot drives a driven wheel 1-5 to make the robot move forward through a track 2, the track of the robot comprises two parallel non-magnetic chain belts (i.e. the chain belt main body, the lower part is the same) 2-4, permanent magnets (i.e. the permanent magnet adsorption mechanism or called as a non-electric control permanent magnet adsorption mechanism) 2-2 are fixedly connected on the chain belts through fixing screws, wear-resistant anti-slip protrusions 2-1 are arranged on the chain belts 2-4, the wear-resistant anti-slip protrusions 2-1 are higher than the permanent magnets 2-2, in order to prevent the permanent magnets 2-2 from being damaged due to frequent friction or collision with the chain belts in the moving process of the robot, protective pads 2-3 are arranged between the chain belts 2-4 and the permanent magnets 2-2, and the material and thickness of, again, no further description is given.
Referring to fig. 3, the wall-climbing robot uses an electric control permanent magnet adsorption mechanism 3 as a main adsorption means, the electric control permanent magnet adsorption mechanism 3 includes two main magnets 3-1, a reversible magnet 3-2, a magnet yoke (i.e. the aforementioned magnetic yoke, the same below) 3-3 and an excitation coil 3-4, and the excitation coil 3-4 is wound on the reversible magnet 3-2; the two main magnets are symmetrically arranged, the magnetic field intensity of the two main magnets is the same, and the magnetic field directions are opposite; the main magnet is a high-coercivity permanent magnet, the reversible magnet is a low-coercivity permanent magnet, the coercivity of the main magnet is 600-2000kA/m, and the coercivity of the reversible magnet is 30-200 kA/m; the main magnet is made of any one of permanent magnetic ferrite, samarium cobalt and neodymium iron boron, but is not limited to the permanent magnetic ferrite; the material of the reversible magnet includes any one of manganese-aluminum-carbon, aluminum-nickel-cobalt, and iron-chromium-cobalt, but is not limited thereto.
Specifically, referring to fig. 5, when a first excitation current is input to the excitation coil 3-4, the reversible magnet 3-2 is excited in the forward direction, the reversible magnet 3-2 has an upper pole which is an N pole and a lower pole which is an S pole, magnetic fluxes pass through both the main magnet 3-1 and the reversible magnet 3-2, a magnetic field generated by the main magnet 3-1 and a magnetic field generated by the reversible magnet 3-2 have the same direction, and the electrically controlled permanent magnet adsorption mechanism is in a magnetizing state and is in an externally adsorbing state.
Referring to fig. 6, when a second excitation current is input to the excitation line 3-4, the reversible magnet 3-2 is negatively excited, the reversible magnet 3-2 has an upper pole of S and a lower pole of N, no magnetic flux passes through the wall of the magnetic conductive metal, and at this time, the directions of the magnetic fields of the main magnet and the reversible magnet are opposite, and the electrically controlled permanent magnet adsorption mechanism is in a release state.
Referring to fig. 1-3, 4a and 4b, an electric permanent magnet control system 1-2 disposed on the top of the vehicle body is connected to a power supply assembly, and can control and output the two excitation currents to adjust the adsorption state of the electric permanent magnet adsorption mechanism 3, and cooperate with an attitude sensor to monitor the attitude of the robot in real time, and the wall climbing robot adjusts the adsorption force of the electric permanent magnet adsorption mechanism by controlling the excitation current on a gentle wall surface with a low requirement for the adsorption force, thereby reducing the load of the driving motor.
Specifically, the main control assembly and the electric control permanent magnet control assembly comprise control chips, and numerical control programs and the like adopted in the main control assembly and the electric control permanent magnet control assembly can be obtained commercially. The sizes of the components can be adjusted according to requirements, and are not described in detail herein.
The crawler-type wall-climbing robot based on the electric permanent magnetic adsorption structure provided by the utility model takes the electric permanent magnetic adsorption mechanism as a main adsorption means and is assisted by the permanent magnet on the crawler component, so that the load bearing capacity of the crawler-type wall-climbing robot is greatly improved; the utility model provides a crawler-type wall climbing robot based on electric permanent magnetism adsorption structure detects self-state through attitude sensor, and in the wall that the inclination is less, and the suction requirement is not high, the robot can automatic adjustment electric permanent magnetism adsorption mechanism's magnetic attraction, through reducing electric permanent magnetism adsorption mechanism's magnetic attraction, reduces motor load, prolongs the life of motor; compared with an electromagnetic type crawler wall-climbing robot, the electric permanent magnetic adsorption mechanism used in the utility model only needs electricity when the adsorption state is switched or the adsorption force needs to be adjusted, and can keep the adsorption or release state without continuous power-on, thereby improving the cruising ability of the wall-climbing robot; compared with a wall-climbing robot which only depends on a permanent magnet as an adsorption means, the robot can be taken down from an attached wall more conveniently by switching the adsorption state of the robot.
It should be understood that the above-mentioned embodiments are merely illustrative of the technical concepts and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and therefore, the protection scope of the present invention should not be limited thereby. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.
Claims (16)
1. The utility model provides a crawler-type wall climbing robot based on electric permanent magnetism adsorbs structure, including the robot main part, with the track subassembly that the robot main part is connected, with the drive assembly that the track subassembly is connected and with the first magnetism that the track subassembly is connected adsorbs the subassembly, first magnetism adsorbs the subassembly and is used for cooperating its characterized in that with magnetic conduction metal wall: the first magnetic adsorption assembly comprises at least one electric control permanent magnetic adsorption mechanism, the electric control permanent magnetic adsorption mechanism comprises a magnetic conductive yoke iron, more than two main magnets and more than one reversible magnet, the more than two main magnets and the more than one reversible magnet are arranged on the magnetic conductive yoke iron and matched with each other, and an excitation coil is wound on the reversible magnet; when a first excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a magnetizing state and is adsorbed to the wall surface of the magnetic conductive metal; when a second excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a demagnetization state and is separated from the magnetic conductive metal wall surface; the first excitation current and the second excitation current are opposite in direction.
2. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 1, characterized in that: the two main magnets are symmetrically arranged, the magnetic field intensity of the two main magnets is the same, and the magnetic field directions are opposite.
3. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 1 or 2, wherein: more than two the main magnet is the permanent magnet, reversible magnet is the permanent magnet.
4. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 3, characterized in that: the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
5. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 4, characterized in that: the coercive force of the main magnet is 600-2000kA/m, and the coercive force of the reversible magnet is 30-200 kA/m.
6. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 1, characterized in that: the track subassembly is including the chain belt main part of magnetic conduction not, the chain belt main part of magnetic conduction not still is connected with second magnetism adsorption component, second magnetism adsorption component includes more than one permanent magnetism adsorption apparatus structure, permanent magnetism adsorption apparatus structure can cooperate with the magnetic conduction metal wall, just permanent magnetism adsorption apparatus structure and magnetic conduction metal wall do not have direct contact.
7. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 6, characterized in that: the permanent magnet adsorption mechanism is a permanent magnet.
8. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 6, characterized in that: the permanent magnet adsorption mechanism is a high-coercivity permanent magnet.
9. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 6, characterized in that: the surface of the chain belt main body is also provided with a plurality of wear-resistant anti-slip bulges, and the permanent magnet adsorption mechanism is arranged between every two adjacent wear-resistant anti-slip bulges.
10. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 9, characterized in that: the height of the permanent magnetic adsorption mechanism is lower than that of the wear-resistant anti-skid protrusions.
11. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 6, characterized in that: and a protection pad is also arranged between the chain belt main body and the permanent magnet adsorption mechanism.
12. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 1, characterized in that: the robot main body further comprises a control assembly, the control assembly comprises a main control assembly and an electric control permanent magnet control assembly, the main control assembly is connected with the electric control permanent magnet control assembly and the driving assembly, and the main control assembly comprises an attitude sensor; the electric control permanent magnet control assembly can adjust the current magnitude and direction input into the magnet exciting coil.
13. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 12, wherein: the driving assembly comprises a driving mechanism, a driving wheel and a driven wheel, the driving mechanism is in transmission connection with the driving wheel, and the driving wheel is connected with the driven wheel through the crawler assembly.
14. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 13, wherein: the driving mechanism comprises a driving motor.
15. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 12, wherein: the robot main part still includes power supply module, power supply module with automatically controlled permanent magnetism control assembly and automatically controlled permanent magnetism control assembly are connected, power supply module includes portable power source and can connect the interface of external power source.
16. The crawler-type wall-climbing robot based on the electro-permanent magnetic adsorption structure according to claim 15, wherein: the robot main body is made of light non-magnetic materials.
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| CN201920827339.7U CN210132511U (en) | 2019-06-03 | 2019-06-03 | Crawler-type wall climbing robot based on electric permanent magnetic adsorption structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111776098A (en) * | 2020-06-23 | 2020-10-16 | 陕西宝智通科技发展有限公司 | Crawler-type excitation adsorption wall-climbing operation robot |
| CN113276975A (en) * | 2021-05-08 | 2021-08-20 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113945628A (en) * | 2021-11-09 | 2022-01-18 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large-scale storage tank wall plate magnetic flux leakage detection robot |
| CN114275069A (en) * | 2021-12-29 | 2022-04-05 | 金陵科技学院 | Hybrid magnetic adsorption wall-climbing robot, driving mode and tracking control algorithm |
| CN113945628B (en) * | 2021-11-09 | 2024-05-03 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot |
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2019
- 2019-06-03 CN CN201920827339.7U patent/CN210132511U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776098A (en) * | 2020-06-23 | 2020-10-16 | 陕西宝智通科技发展有限公司 | Crawler-type excitation adsorption wall-climbing operation robot |
| CN111776098B (en) * | 2020-06-23 | 2021-10-08 | 陕西宝智通科技发展有限公司 | Crawler-type excitation adsorption wall-climbing operation robot |
| CN113276975A (en) * | 2021-05-08 | 2021-08-20 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113276975B (en) * | 2021-05-08 | 2022-07-12 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| WO2022236704A1 (en) * | 2021-05-08 | 2022-11-17 | 广东工业大学 | Magnetically controllable permanent magnet continuous track wheel and robot provided with same |
| CN113945628A (en) * | 2021-11-09 | 2022-01-18 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large-scale storage tank wall plate magnetic flux leakage detection robot |
| CN113945628B (en) * | 2021-11-09 | 2024-05-03 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot |
| CN114275069A (en) * | 2021-12-29 | 2022-04-05 | 金陵科技学院 | Hybrid magnetic adsorption wall-climbing robot, driving mode and tracking control algorithm |
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